增加TIA支持

YDLIDAR · Dec 9, 2024 · 6bdbe78 · 6bdbe78
1 parent 78f9528
commit 6bdbe78
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Showing 21 changed files with 5,145 additions and 521 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,7 +5,7 @@ project(ydlidar_sdk C CXX)
 # version
 set(YDLIDAR_SDK_VERSION_MAJOR 1)
 set(YDLIDAR_SDK_VERSION_MINOR 2)
-set(YDLIDAR_SDK_VERSION_PATCH 8)
+set(YDLIDAR_SDK_VERSION_PATCH 9)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################
@@ -16,7 +16,7 @@ ELSE()
 	SET(CMAKE_MRPT_WORD_SIZE 32)
 ENDIF()
 ##################################################
-#c++ 11
+# Add c++11 Flag
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 
 ##########################################################

diff --git a/core/base/thread.h b/core/base/thread.h
@@ -1,7 +1,6 @@
 #pragma once
 #include "v8stdint.h"
 #include "timer.h"
-
 #ifdef _WIN32
 #include <conio.h>
 #include <windows.h>

diff --git a/core/common/DriverInterface.h b/core/common/DriverInterface.h
@@ -7,6 +7,7 @@
 #include <core/base/datatype.h>
 #include "ydlidar_protocol.h"
 #include "ydlidar_def.h"
+#include "ydlidar_config.h"
 
 
 namespace ydlidar
@@ -43,6 +44,8 @@ namespace ydlidar
         PropertyBuilderByName(bool, Debug, protected);
         // 扫描频率
         PropertyBuilderByName(float, ScanFreq, protected);
+        // 采样率
+        PropertyBuilderByName(float, SampleRate, protected);
         // 是否底板优先
         PropertyBuilderByName(bool, Bottom, protected);
         // 是否已获取到设备信息
@@ -183,23 +186,29 @@ namespace ydlidar
          * static function
          * @return Version
          */
-        virtual std::string getSDKVersion() = 0;
+        virtual std::string getSDKVersion() {
+          return YDLIDAR_SDK_VERSION_STR;
+        }
 
         /**
          * @brief Is the Lidar in the scan \n
          * @return scanning status
          * @retval true     scanning
          * @retval false    non-scanning
          */
-        virtual bool isscanning() const = 0;
+        virtual bool isscanning() const {
+          return m_isScanning;
+        }
 
         /**
          * @brief Is it connected to the lidar \n
          * @return connection status
          * @retval true     connected
          * @retval false    Non-connected
          */
-        virtual bool isconnected() const = 0;
+        virtual bool isconnected() const {
+          return m_isConnected;
+        }
 
         /**
          * @brief Is there intensity \n
@@ -222,7 +231,9 @@ namespace ydlidar
          *   true	support
          *   false no support
          */
-        virtual void setAutoReconnect(const bool &enable) = 0;
+        virtual void setAutoReconnect(const bool &enable) {
+          isAutoReconnect = enable;
+        }
 
         /**
          * @brief Get current scan update configuration.
@@ -286,16 +297,23 @@ namespace ydlidar
          * @retval RESULT_FAILE    failed
          * @note Just turn it on once
          */
-        virtual result_t startScan(bool force = false,
-                                   uint32_t timeout = DEFAULT_TIMEOUT) = 0;
+        virtual result_t startScan(
+          bool force = false,
+          uint32_t timeout = DEFAULT_TIMEOUT) {
+            UNUSED(force);
+            UNUSED(timeout); 
+            return RESULT_FAIL;
+          }
 
         /**
          * @brief turn off scanning \n
          * @return result status
          * @retval RESULT_OK       success
          * @retval RESULT_FAILE    failed
          */
-        virtual result_t stop() = 0;
+        virtual result_t stop() {
+          return RESULT_FAIL;
+        }
 
         /**
          * @brief Get a circle of laser data \n
@@ -540,7 +558,11 @@ namespace ydlidar
 
           YDLIDAR_T15 = 200, /**< T15 LiDAR Model. */
 
-          YDLIDAR_Tail,
+          YDLIDAR_TIA = 210, //TIA雷达
+          YDLIDAR_TIA_H = 211, //TIA-H雷达
+          YDLIDAR_TIA_X = 212, //TIA-X雷达
+
+          YDLIDAR_Tail = 255,
         };
 
         enum YDLIDAR_RATE
@@ -573,6 +595,7 @@ namespace ydlidar
         /// Parse Data thread
         Thread _thread; //线程对象
         std::thread* m_thread = nullptr; //STD线程对象
+        std::thread* m_thread2 = nullptr; //STD线程对象
         /// command locker（不支持嵌套）
         Locker _cmd_lock;
         /// driver error locker（不支持嵌套）

diff --git a/core/common/ydlidar_def.h b/core/common/ydlidar_def.h
@@ -42,13 +42,14 @@ typedef enum {
 
 /** Lidar Type ID */
 typedef enum {
-  TYPE_TOF = 0,/**< TG TX LiDAR.*/
-  TYPE_TRIANGLE = 1,/**< G4. G6. G2 LiDAR.*/
-  TYPE_TOF_NET = 2,/**< T15 LiDAR.*/
+  TYPE_TOF = 0, //TG系列雷达
+  TYPE_TRIANGLE = 1, //S2、S2 Pro、S4、G4、G6、G2、Tmini等三角协议雷达
+  TYPE_TOF_NET = 2, //T系列雷达
   TYPE_GS = 3, //GS系列雷达（目前只有GS2）
   TYPE_SCL = 4, //SCL雷达
   TYPE_SDM = 5, //SDM15单点雷达
   TYPE_SDM18 = 6, //SDM18单点雷达
+  TYPE_TIA = 7, //TIA系列雷达
   TYPE_Tail,
 } LidarTypeID;